CN112736762B - Cable inspection robot - Google Patents
Cable inspection robot Download PDFInfo
- Publication number
- CN112736762B CN112736762B CN202011425286.XA CN202011425286A CN112736762B CN 112736762 B CN112736762 B CN 112736762B CN 202011425286 A CN202011425286 A CN 202011425286A CN 112736762 B CN112736762 B CN 112736762B
- Authority
- CN
- China
- Prior art keywords
- unit
- arm
- balance
- driving mechanism
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a cable inspection robot, and relates to the technical field of power transmission and distribution maintenance. The power unit of the robot is provided with a driving wheel for driving the robot to move, and the detection unit is used for detecting the property and the state of the detected cable; the device comprises a machine body, a balance unit and a module installation unit, wherein the balance unit is used for installing external equipment, one end of the balance unit is connected with the machine body in an installation mode, the other end of the balance unit is connected with the module installation unit, the balance unit is used for keeping the installation unit horizontal and stable, the balance unit and the machine body can move relatively, and the machine body is provided with a force sensor used for monitoring the magnitude and the direction of force applied to the machine body by the balance unit and the module installation unit; the control unit is in signal connection with the power unit, the balance unit, the module installation unit and the detection unit, and is used for collecting data of the power unit, the balance unit, the module installation unit and the detection unit and sending control instructions to the power unit, the balance unit, the module installation unit and the detection unit.
Description
Technical Field
The invention belongs to the technical field of power transmission and distribution maintenance, and particularly relates to a cable inspection robot.
Background
Any failure of the transmission line may seriously affect the life and production. Therefore, in the field of power transmission and distribution maintenance, preventive maintenance is placed on a more prominent position than repairing a damaged line. For many years, the inspection and maintenance of high-voltage electric wires mostly adopt the traditional means represented by manual inspection. This approach is inefficient and highly dangerous. And manual overhaul can only work under the condition that the line is powered off, so that the range of overhaul operation is greatly limited.
In recent years, with the increase of the demand for replacing or assisting the manual work of the power transmission line inspection by the robot, the research of the power transmission line inspection robot becomes one of the research hotspots in the field of robots at home and abroad. The robot is used for preventive maintenance, the power grid does not need to interrupt power transmission, and the robot can carry out inspection all the year round.
Disclosure of Invention
In the prior art, the automatic work of high-voltage transmission line inspection is often hindered by obstacles such as cable spacers and suspender clamps in the line, and the obstacle crossing performance of the inspection robot is the key performance of the inspection robot. However, the current inspection robot has single function and poor expansibility. Therefore, in the technical field of power transmission and distribution maintenance, an inspection robot capable of installing an expanded module and having good obstacle surmounting performance is urgently needed.
Therefore, the invention provides a cable inspection robot which solves the problems by the following technical key points:
a cable inspection robot is characterized by comprising a robot body, a power unit, a detection unit and a control unit, wherein the power unit is provided with a driving wheel for driving the robot to move, and the detection unit is used for detecting the property and the state of a detected cable; the inspection robot further comprises a balance unit and a module installation unit for installing external equipment, one end of the balance unit is connected with the robot body in an installation mode, the other end of the balance unit is connected with the module installation unit, the balance unit is used for keeping the installation unit horizontal and stable, the balance unit and the robot body can move relatively, and the robot body is provided with a force sensor used for monitoring the force applied by the balance unit and the module installation unit to the robot body and the direction; the control unit is in signal connection with the power unit, the balance unit, the module installation unit and the detection unit, and is used for collecting data of the power unit, the balance unit, the module installation unit and the detection unit and sending control commands to the power unit, the balance unit, the module installation unit and the detection unit.
As described above, the present invention provides a cable inspection robot, which is provided with a module installation unit for installing an external device, so as to expand the function of the cable inspection robot to adapt to different application scenarios. The external equipment is installed on the module installation unit, and the module installation unit is connected with the body of the cable inspection robot through the balance unit. Because the distance between the cables of the power transmission towers, especially the cables of the large-span high and large power transmission towers, is long, the cable is large as the cycloid radian, and the angle of the body of the cable inspection robot can be changed continuously when the cable inspection robot moves on the cable. And due to the action of external factors such as wind power, rainwater and the like, the inspection robot can also move and swing along with the cable. If the external device installed on the robot body is not processed, the external device may be in poor contact with the robot body, and the internal of the external device may be damaged to lose data. Therefore, the external equipment is enabled to be kept stable in the maximum degree through the arrangement of the balance unit between the external equipment and the robot body, and the installation reliability between the external equipment and the robot body is facilitated. And secondly, the external equipment, the module mounting unit and the balancing unit all have certain self weights, and the three units are movably connected with the machine body through the balancing unit, so that the three units are formed into an external counterweight of the robot. In the process of crossing obstacles or getting on and off the cable, the robot generates additional acceleration or changes the position of the center of mass through the movement of the balancing unit, and the dynamic performance of the cable inspection robot in the working process can be improved. The force sensor can detect the force applied to the body by the balance unit and the module installation unit and the direction of the force, so that the states of the balance unit and the module installation unit can be timely mastered by the control unit, and the control unit can timely adjust the positions of the balance unit and the module installation unit to improve the dynamic performance of the whole machine.
The further technical scheme is as follows:
the power unit comprises a front driving mechanism, a middle driving mechanism and a rear driving mechanism, wherein the front driving mechanism is installed at the foremost end of the machine body, the rear driving mechanism is installed at the rearmost end of the machine body, the middle driving mechanism is connected with the machine body and installed, and the installation position is located between the front driving mechanism and the rear driving mechanism. In the technical characteristics, the main structural components of the power unit are specifically mentioned, namely the power unit comprises a front driving mechanism, a middle driving mechanism and a rear driving mechanism, and the three driving mechanisms change the motion path of the inspection robot by changing the mutual position relationship and the self structural size. Compare in traditional cable that only has two actuating mechanism and patrol and examine the robot, should patrol and examine the stability that three actuating mechanism that the robot adopted can promote this robot motion in-process.
The driving mechanism main body is a mechanical arm, the mechanical arm is formed by assembling a support rod and a telescopic rod capable of sliding relative to the support rod, the support rod and the telescopic rod are connected in a gear-rack fit mode, and a mechanical arm motor is arranged on the mechanical arm and used for driving the support rod to slide; the one end of bracing piece is used for installing the telescopic link, the other end is used for being connected the installation with the fuselage, the one end of telescopic link is used for being connected the installation with the bracing piece, the other end is used for installing the drive wheel, be provided with first locking device between bracing piece and the telescopic link, the material of drive wheel is polyurethane, the drive wheel is provided with the wheel hub motor who drives its motion. In the technical characteristics, the structural composition of a single driving mechanism is specifically described, namely, the main body is a mechanical arm consisting of a supporting rod and a telescopic rod which are connected in a matched mode through a gear and a rack. The length of the mechanical arm can be changed by driving the supporting rod to move through a mechanical arm motor. The first locking device is arranged to enable the position between the supporting rod and the telescopic rod to be kept fixed to form a rigid whole. The polyurethane material has the advantages of high strength, high hardness and the like.
The mechanical arm is rotationally connected with the machine body through a direct current motor, and the direct current motor is provided with an angular displacement sensor and a second locking device. In the technical characteristic, the angular displacement sensor matched with the direct current motor can accurately adjust the angle of the driving mechanism relative to the machine body. The driving wheel arranged at the end part of the telescopic rod can move to any position in an adjustable interval by matching with the telescopic rod which is contained by the driving mechanism and can slide relative to the supporting rod. The second locking device effectively prevents the direct current motor from losing efficacy after the angle is adjusted.
For making the detecting element press close to the cable and make its detection effect more excellent, set up to, the detecting element includes the camera, the camera passes through the camera mount pad and installs the top at the telescopic link.
The balance unit and the machine body are connected with the machine body in a sliding mode through a guide rail sliding block device, a rotating motor and a ball screw nut are arranged on the machine body and used for driving the sliding block to move, and the guide rail sliding block device is further provided with a third locking device. This technical feature defines in particular the bearing formation that produces the sliding effect between the fuselage of the balancing unit. The ball screw nut is used as a driving mechanism of the sliding block, has the characteristics of high precision, reversibility and high efficiency, and can accurately control the relative position of the sliding block on the machine body.
The balance unit further comprises a holder body for mounting the module mounting unit and a holder base for connecting the holder body with the sliding block.
The holder body comprises a yaw axis motor, a yaw axis arm, a roll axis motor, a roll axis arm, a pitch axis motor and a pitch axis arm; one end of the yaw axis motor is connected with the holder base in an installing mode, the other end of the yaw axis motor is provided with a yaw axis arm, and the extending direction of the yaw axis arm is perpendicular to the rotating shaft of the yaw axis motor; the yaw axis shaft arm is an L-shaped shaft arm, one end of the yaw axis shaft arm is installed with the yaw axis motor, and the other end of the yaw axis shaft arm is installed with the transverse rolling axis motor; the transverse rolling shaft arm is a door-shaped arm, the midpoint of the transverse rolling shaft arm is connected with the transverse rolling shaft motor, the pitching shaft motors are mounted at the two tail ends of the transverse rolling shaft arm, and the pitching shaft arm used for mounting the module mounting unit is arranged between the two pitching shaft motors. In this technical feature, the configuration of the pan/tilt head body is specifically described, and the respective rotation axes of the three motors, i.e., the yaw axis motor, the roll axis motor and the pitch axis motor, are perpendicular to each other in pairs, so that the module mounting unit mounted on the pitch axis arm can have three rotational degrees of freedom relative to the pan/tilt head base, and the three motors are matched with the three axis arms, so that the stability and the level of the module mounting unit can be maintained to the greatest extent.
The module installation unit is provided with a signal interface. The signal interface is arranged to enable the external installation equipment to exchange information with the control unit.
The control unit comprises a gravity sensor, an acceleration sensor, a gyroscope, a satellite positioning system and a power supply, and is fixedly connected with the machine body. The arrangement of the gravity sensor, the acceleration sensor and the gyroscope enables the control unit to accurately obtain the dynamics information of the robot in real time, and the control unit is fixedly connected with the robot body to enable the control unit to obtain the dynamics information of the robot body more accurately.
Compared with the prior art, the invention has the beneficial effects that:
the invention has scientific and reasonable structure and safe and convenient use. The invention provides a cable inspection robot, which comprises a front main body, a middle main body and a rear main body which are driving mechanisms of mechanical arms, wherein the length of the mechanical arms is adjustable due to the arrangement of supporting rods and telescopic rods, and a driving wheel arranged at the tail end of each supporting rod can be adjusted to a plurality of positions to change the moving posture of a machine body in cooperation with a direct current motor for rotating the mechanical arms. Still slide on the fuselage and be provided with the balancing unit, the balancing unit end is provided with module installation unit and can installs external module and expand this function and the application scene of patrolling and examining the robot. The external module, the module mounting unit and the balance unit which are used for mounting and connecting the external module are used as balance weights, and the sliding motion on the machine body can be matched with the driving mechanism to realize the posture adjustment of the robot so as to realize the operations of obstacle crossing, up-and-down line and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic overall layout of the present invention;
FIG. 2 is a schematic view of a pan and tilt head according to the present invention;
FIG. 3 is a schematic diagram of a step of crossing straight lines;
FIG. 4 is a second schematic diagram of the step of crossing straight lines;
FIG. 5 is a third schematic diagram of a step of crossing a straight line jumper according to the present invention;
FIG. 6 is a fourth step of crossing straight lines for jumping wires according to the present invention;
in the figure: 1. a body; 2. a power unit; 21. a drive wheel; 22. a front drive mechanism; 23. a middle driving mechanism; 24. a rear drive mechanism; 25. a mechanical arm; 26. a support bar; 27. a telescopic rod; 28. a direct current motor; 3. a detection unit; 31. a camera; 32. a camera mount; 4. a balancing unit; 41. a slider; 42. a holder base; 43. the holder body; 431. a yaw axis motor; 432. a yaw axis arm; 433. a transverse roller motor; 434. a transverse roller shaft arm; 435. a pitch axis motor; 436. a pitch axis arm; 5. a module mounting unit; 6. a control unit; 7. a cable; 8. and connecting the module externally.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
a cable inspection robot is characterized by comprising a robot body 1, a power unit 2, a detection unit 3 and a control unit 6, wherein the power unit 2 is provided with a driving wheel 21 for driving the robot to move, and the detection unit 3 is used for detecting the property and the state of a detected cable 7; the inspection robot further comprises a balance unit 4 and a module installation unit 5 for installing external equipment, one end of the balance unit 4 is connected with the machine body 1 in an installation mode, the other end of the balance unit 4 is connected with the module installation unit 5, the balance unit 4 is used for keeping the installation unit horizontal and stable, the balance unit 4 and the machine body 1 can move relatively, and the machine body 1 is provided with a force sensor used for monitoring the magnitude and the direction of force applied to the machine body 1 by the balance unit 4 and the module installation unit 5; the control unit 6 is in signal connection with the power unit 2, the balance unit 4, the module installation unit 5 and the detection unit 3, and is used for collecting data of the power unit 2, the balance unit 4, the module installation unit 5 and the detection unit 3 and sending control commands to the power unit 2, the balance unit 4, the module installation unit 5 and the detection unit 3.
As described above, the present invention provides a cable inspection robot, which is provided with a module installation unit 5 for installing an external device, so as to expand the functions of the cable inspection robot to adapt to different application scenarios. The external equipment is installed on the module installation unit 5, and the module installation unit 5 is connected with the cable inspection robot body 1 through the balance unit 4. Because the distance between the cables 7 between the power transmission towers, especially the cables 7 between the large-span high and large power transmission towers is long, the cable 7 has large cycloid radian, and the angle of the machine body 1 of the cable inspection robot can be changed continuously when the cable inspection robot moves on the cable 7. And the inspection robot can move and swing along with the cable 7 under the action of external factors such as wind power, rainwater and the like. If the external device mounted on the body 1 is not processed, there may be a case where the external device is in poor contact with the robot body, or the internal of the external device is damaged and data is lost. Therefore, the external equipment is enabled to be kept horizontal and stable to the maximum extent through the arrangement of the balance unit 4 between the external equipment and the robot body 1, and the installation reliability between the external equipment and the robot body is facilitated. And secondly, the external equipment, the module installation unit 5 and the balance unit 4 have certain dead weight, and the three units are movably connected with the machine body 1 through the balance unit 4 to form an external counterweight of the robot. In the process of crossing obstacles or getting on and off the cable, the robot generates additional acceleration or changes the position of the center of mass through the movement of the balancing unit 4, and the dynamic performance of the cable inspection robot in the working process can be improved. The arrangement of the force sensor can detect the magnitude and the direction of the force applied to the body 1 by the balance unit 4 and the module installation unit 5, so that the states of the force and the direction can be timely mastered by the control unit 6, and the control unit 6 can timely adjust the positions of the force and the direction to improve the dynamic performance of the whole machine.
Example 2:
as shown in fig. 2, the present embodiment is further defined on the basis of embodiment 1:
The driving mechanism main body is a mechanical arm 25, the mechanical arm 25 is formed by assembling a support rod and a telescopic rod capable of sliding relative to the support rod, the support rod and the telescopic rod are connected in a gear-rack fit mode, and a mechanical arm 25 motor is arranged on the mechanical arm 25 and used for driving the support rod to slide; the utility model discloses a driving wheel, including the bracing piece, the one end of bracing piece is used for installing the telescopic link, the other end is used for being connected the installation with fuselage 1, the one end of telescopic link is used for being connected the installation with the bracing piece, the other end is used for installing drive wheel 21, be provided with first locking device between bracing piece and the telescopic link, the material of drive wheel 21 is polyurethane, drive wheel 21 is provided with the in-wheel motor of its motion of drive. In the technical characteristics, the structural composition of a single driving mechanism is specifically described, namely, the main body is a mechanical arm 25 consisting of a support rod and a telescopic rod which are connected in a matched mode through a gear rack. The length of the robot arm 25 can be changed by the robot arm 25 motor driving the support rod to move. The first locking device is arranged to enable the position between the supporting rod and the telescopic rod to be kept fixed to form a rigid whole. The polyurethane material has the advantages of high strength, high hardness and the like.
The mechanical arm 25 is rotatably connected with the machine body 1 through a direct current motor 28, and the direct current motor 28 is provided with an angular displacement sensor and a second locking device. In this technical feature, the angular displacement sensor associated with the dc motor 28 enables precise adjustment of the angle of the drive mechanism relative to the body 1. The driving wheel 21 arranged at the end of the telescopic rod can move to any position in the adjustable interval by matching with the telescopic rod which is contained in the driving mechanism and can slide relative to the supporting rod. The second locking device is arranged to effectively prevent the direct current motor 28 from being out of work after the angle is adjusted.
In order to make the detection unit 3 close to the cable 7 so that the detection effect is more excellent, it is arranged that the detection unit 3 comprises a camera 31, and the camera 31 is installed at the top end of the telescopic rod through a camera installation seat 32.
The balance unit 4 and the machine body 1 are connected with the machine body 1 in a sliding mode through a guide rail sliding block 41 device, a rotating motor and a ball screw nut are arranged on the machine body 1 and used for driving the sliding block 41 to move, and the guide rail sliding block 41 device is further provided with a third locking device. This technical feature defines in particular the bearing constituent structure of the balancing unit 4 which generates the sliding effect between the bodies 1. The ball screw nut, as a driving mechanism of the slider 41, has the characteristics of high accuracy, reversibility and high efficiency, and can accurately control the relative position of the slider 41 on the body 1.
The balancing unit 4 further includes a pan/tilt head body 43 for mounting the module mounting unit 5 and a pan/tilt head base 42 for connecting the pan/tilt head body 43 and the slider 41.
The holder body 43 comprises a yaw axis motor 431, a yaw axis arm 432, a roll axis motor 433, a roll axis arm 434, a pitch axis motor 435 and a pitch axis arm 436; one end of the yaw axis motor 431 is connected with the holder base 42 in an installing mode, the other end of the yaw axis motor 431 is provided with a yaw axis arm 432, and the extending direction of the yaw axis arm 432 is perpendicular to the rotating shaft of the yaw axis motor 431; the yaw axis arm 432 is an L-shaped arm, one end of the yaw axis arm is installed with a yaw axis motor 431, and the other end of the yaw axis arm is installed with a roll axis motor 433; the horizontal roller shaft arm 434 is a door-shaped shaft arm, the midpoint of the horizontal roller shaft arm is connected with the horizontal roller shaft motor 433, the two tail ends of the horizontal roller shaft arm are provided with the pitching shaft motors 435, and the pitching shaft arm 436 for installing the module installation unit 5 is arranged between the two pitching shaft motors 435. In this technical feature, specifically describing the configuration of the pan/tilt head body 43, the respective rotation axes of the three motors, i.e., the yaw axis motor 431, the roll axis motor 433, and the pitch axis motor 435, are perpendicular to each other in pairs, so that the module mounting unit 5 mounted on the pitch axis arm 436 can have three rotational degrees of freedom with respect to the pan/tilt head base 42, and the three motors cooperate with the three axis arms, so that the stability and the level of the module mounting unit 5 can be maintained to the maximum extent.
The module mounting unit 5 is provided with a signal interface. The signal interface is arranged to enable an external installation device to exchange information with the control unit 6.
The control unit 6 comprises a gravity sensor, an acceleration sensor, a gyroscope, a satellite positioning system and a power supply, and the control unit 6 is fixedly connected with the machine body 1. The arrangement of the gravity sensor, the acceleration sensor and the gyroscope enables the control unit 6 to accurately obtain the dynamics information of the robot in real time, and the control unit 6 is fixedly connected with the machine body 1 to enable the control unit 6 to obtain the dynamics information of the machine body 1 more accurately.
Example 3:
the schematic of the robot crossing straight line jumper steps 1-4 as shown in fig. 3-6. In the steps, "front", "middle", and "rear" are determined in terms of the traveling direction, which is the front and the reverse of the traveling direction, which is the rear.
Step one, after the obstacle needing to be crossed is found, the length of the mechanical arm 25 is adjusted by the middle driving mechanism 23 and the rear driving mechanism 24, the driving wheel 21 of the front driving mechanism 22 is separated from the cable 7, the slider 41 drives the balance mechanism to move towards the rear of the machine body 1 so as to balance the moment generated after the front driving mechanism 22 is emptied, the position of the front driving mechanism 22 is adjusted, and the middle driving mechanism 23 and the rear driving mechanism 24 move forwards to drive the front driving mechanism 22 to cross the obstacle so as to be close to a new target cable 7 section.
And step two, the driving wheel 21 on the front driving mechanism 22 is lapped on a new target cable 7 section bypassing the obstacle, the middle driving mechanism 23 is separated from the cable 7, and the front driving mechanism 22 and the rear driving mechanism 24 drive the robot to move forwards until the middle driving mechanism 23 crosses the obstacle.
And step three, the rear driving mechanism 24 is emptied, and the sliding block 41 is driven to the front end of the machine body 1 to balance the moment generated after the rear driving mechanism 24 is emptied. The front drive mechanism 22 and the middle drive mechanism 23 travel forward to bring the rear drive mechanism 24 across obstacles.
Step four, the rear driving mechanism 24 bypasses the obstacle, the driving wheels 21 of the three driving mechanisms all enter the end of the new target cable 7, and the whole robot finishes obstacle crossing, namely linear wire jumping operation.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The cable inspection robot is characterized by comprising a robot body, a power unit (2), a detection unit (3) and a control unit (6), wherein the power unit (2) is provided with a driving wheel (21) for driving the robot to move, and the detection unit (3) is used for detecting the property and the state of a detected cable (7);
the inspection robot further comprises a balance unit (4) and a module installation unit (5) for installing external equipment, one end of the balance unit (4) is connected with the robot body in an installation mode, the other end of the balance unit is connected with the module installation unit (5), the balance unit (4) is used for keeping the installation unit horizontal and stable, the balance unit (4) and the robot body can move relatively, and the robot body is provided with a force sensor for monitoring the size and the direction of force applied to the robot body by the balance unit (4) and the module installation unit (5);
the control unit (6) is in signal connection with the power unit (2), the balance unit (4), the module installation unit (5) and the detection unit (3) and is used for collecting data of the power unit (2), the balance unit (4), the module installation unit (5) and the detection unit (3) and sending control instructions to the power unit (2), the balance unit (4), the module installation unit (5) and the detection unit (3); the power unit (2) comprises a front driving mechanism (22), a middle driving mechanism (23) and a rear driving mechanism (24), the front driving mechanism (22) is installed at the foremost end of the machine body, the rear driving mechanism (24) is installed at the rearmost end of the machine body, the middle driving mechanism (23) is connected with the machine body, the installation position is located between the front driving mechanism (22) and the rear driving mechanism (24), the driving mechanism body is a mechanical arm (25), the mechanical arm (25) is formed by assembling a supporting rod (26) and a telescopic rod (27) capable of sliding relative to the supporting rod (26), the supporting rod (26) and the telescopic rod (27) are connected in a gear-rack fit mode, and a mechanical arm (25) motor is arranged on the mechanical arm (25) and used for driving the supporting rod (26) to slide;
the one end of bracing piece (26) is used for installing telescopic link (27), the other end is used for being connected the installation with the fuselage, the one end of telescopic link (27) is used for being connected the installation with bracing piece (26), the other end is used for installing drive wheel (21), be provided with first locking device between bracing piece (26) and telescopic link (27), the material of drive wheel (21) is polyurethane, drive wheel (21) are provided with the in-wheel motor who drives its motion.
2. A cable inspection robot according to claim 1, wherein the robot arm (25) is rotatably connected to the body via a dc motor (28), and the dc motor (28) is provided with an angular displacement sensor and a second locking device.
3. A cable inspection robot according to claim 1, wherein the detection unit (3) includes a camera (31), the camera (31) being mounted on the top end of the telescopic rod (27) by means of a camera mounting seat (32).
4. A cable inspection robot according to claim 1, wherein the balancing unit (4) is slidably connected to the body through a rail block (41) unit, the body is provided with a rotary motor and a ball screw nut for driving the block (41) to move, and the rail block (41) unit is further provided with a third locking unit.
5. A cable inspection robot according to claim 4, wherein the balancing unit (4) further includes a pan head body (43) for mounting the module mounting unit (5) and a pan head base (42) for connecting the pan head body (43) and the slider (41).
6. A cable inspection robot according to claim 5, wherein the head body (43) includes a yaw axis motor (431), a yaw axis arm (432), a roll axis motor (433), a roll axis arm (434), a pitch axis motor (435), a pitch axis arm (436);
one end of the yaw axis motor (431) is connected with the holder base (42) in an installing mode, the other end of the yaw axis motor (431) is provided with a yaw axis arm (432), and the extending direction of the yaw axis arm (432) is perpendicular to the rotating shaft of the yaw axis motor (431);
the yaw axis arm (432) is an L-shaped arm, one end of the yaw axis arm is installed with the yaw axis motor (431), and the other end of the yaw axis arm is installed with the transverse rolling axis motor (433);
the utility model discloses a module installation unit, including roll axis arm (434), pitch axis motor (435) are installed to two ends of roll axis arm (434), two be provided with pitch axis arm (436) that are used for installing module installation unit (5) between pitch axis motor (435), roll axis arm (434) are door type arm, the mid point and roll axis motor (433) of roll axis arm (434) are connected the installation.
7. A cable inspection robot according to claim 1, wherein the module mounting unit (5) is provided with a signal interface.
8. A cable inspection robot according to claim 1, wherein the control unit (6) includes a gravity sensor, an acceleration sensor, a gyroscope, a satellite positioning system and a power supply, the control unit (6) being fixedly connected to the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425286.XA CN112736762B (en) | 2020-12-09 | 2020-12-09 | Cable inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425286.XA CN112736762B (en) | 2020-12-09 | 2020-12-09 | Cable inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112736762A CN112736762A (en) | 2021-04-30 |
| CN112736762B true CN112736762B (en) | 2022-07-01 |
Family
ID=75598522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011425286.XA Active CN112736762B (en) | 2020-12-09 | 2020-12-09 | Cable inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112736762B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039591A (en) * | 2009-10-13 | 2011-05-04 | 中国科学院沈阳自动化研究所 | Variable-pitch wheel-arm composite inspection robot mechanism |
| CN103895015B (en) * | 2014-03-24 | 2016-03-30 | 上海大学 | A kind of split type active obstacle travelling robot |
| CN106814741A (en) * | 2015-12-02 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of both arms crusing robot barycenter adaptive control system and method |
| CN105846351B (en) * | 2016-05-12 | 2018-03-09 | 山东大学 | Inspection robot mechanical structure and its obstacle-detouring method |
| CN106142049B (en) * | 2016-08-18 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN210266515U (en) * | 2019-08-05 | 2020-04-07 | 南方电网科学研究院有限责任公司 | Cloud platform system of inspection robot for transformer substation |
| CN111224346B (en) * | 2020-03-11 | 2022-06-17 | 山东科技大学 | High tension transmission line inspection robot with multiple motion modes |
| CN111716320A (en) * | 2020-06-01 | 2020-09-29 | 国电南瑞科技股份有限公司 | Automatic line loading and unloading device for inspection robot with flexible track |
| CN112003186B (en) * | 2020-08-24 | 2022-01-28 | 南京云上自动化科技有限公司 | Ordinary type biped high-voltage line patrols and examines robot |
-
2020
- 2020-12-09 CN CN202011425286.XA patent/CN112736762B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112736762A (en) | 2021-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| CN113086041B (en) | Pole-climbing robot | |
| CN111224346B (en) | High tension transmission line inspection robot with multiple motion modes | |
| CN110854741A (en) | Transmission line inspection robot | |
| CN207256220U (en) | A kind of omnidirectional of substation crusing robot | |
| CN205271989U (en) | Platform is snatched to all -hydraulic independently removal | |
| CN112276966A (en) | Intelligent robot for inspecting electric power instrument | |
| CN209774711U (en) | Anti-overturning counterweight device of mobile 3D printing robot | |
| CN112736762B (en) | Cable inspection robot | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| CN102962834A (en) | Inspection robot mechanism for high-voltage transmission line | |
| CN112659811A (en) | Wheel type inspection robot | |
| CN111017061B (en) | Transmission tower climbing robot, system and method | |
| CN210985446U (en) | Transmission line inspection robot | |
| CN110253598B (en) | Expanding type power transmission line inspection robot | |
| CN109625085B (en) | Independent suspension wheel type intelligent steering method | |
| CN114865530B (en) | Line inspection robot and obstacle avoidance method thereof | |
| CN207704264U (en) | Rail vehicle inspection trolley | |
| CN113290568A (en) | Self-adaptive tunnel detection robot and working method | |
| CN112319387B (en) | Stay wire control type following stable platform | |
| CN114895681A (en) | Robot for detecting highway guardrail plate and control method | |
| CN113043830A (en) | Intelligent platform test vehicle with low-chassis telescopic suspension and control method thereof | |
| CN107015574B (en) | Multi-rope traction type solar tracking system driving mechanism and design method thereof | |
| CN218055350U (en) | Multi-motion-mode inspection robot chassis | |
| CN212099047U (en) | Steering wheel device and carrier loader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |